@fpasch we cannot source multiple workspace like that.

source <path-to-autoware>/ros/install/setup.bash
source $CARLA_AUTOWARE_ROOT/../catkin_ws/devel/setup.bash

when we source setup.bash, it will overlay all the existing sources. (Thats the reason we werenot able find points_preprocess). We have to rebuild either autoware or carla.

Follow the steps to have both the workspace in a single setup.bash.

1. remove build and devel in catkin_ws in carla-autoware folder.
   sudo rm -R devel build
2. source the autoware ros setup.bash here (Dont forget this step)
   source <path-to-autoware>/ros/install/setup.bash
3. do catkin_make in catkin-ws folder
   catkin_make

Now follow the steps as in documentation.

Sanity check:
after sourcing source $CARLA_AUTOWARE_ROOT/../catkin_ws/devel/setup.bash
check Ros Path
echo $ROS_PACKAGE_PATH
you will see many source path. (Many!)

from carla-autoware.

@AravindChandradoss: Could you check if the documentation is correct with #52

from carla-autoware.

@ntutangyun Could you please review: #53

from carla-autoware.

Install simple_pid and try again.
pip install simple-pid

from carla-autoware.

You're missing the Autoware catkin workspace?
Please follow exactly the steps to set up your shell.

from carla-autoware.

ResourceNotFound: points_preprocessor
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/autoware/carla-autoware/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share

@sheepwxy @fpasch I am having the same issue. How did you solve? I exactly followed the instruction.
I build Autoware using colcon.
I launched Carla from Unreal Editor.

Am I missing anything?

Thanks

from carla-autoware.

@sheepwxy @fpasch @AravindChandradoss I have the same problem:

ResourceNotFound: points_preprocessor ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/autoware/carla-autoware/catkin_ws/src ROS path [2]=/opt/ros/kinetic/share
Any idea about how to solve?

from carla-autoware.

points_preprocessor is part of Autoware. Please execute:
source <path-to-autoware>/ros/install/setup.bash

I've seen that this is sometimes failing (it then reports a long list of entries). So it's important to source it before carla-autoware.

from carla-autoware.

12 export CARLA_AUTOWARE_ROOT=/home/autoware/carla-autoware/autoware_launch 13 export CARLA_MAPS_PATH=/home/autoware/carla-autoware/autoware_data/maps 14 source /home/autoware/Autoware/ros/install/setup.bash 15 source devel/setup.bash 16 roslaunch \$CARLA_AUTOWARE_ROOT/devel.launch 17 roslaunch ../autoware_launch/devel.launch

this is my history . Exact order is above. Is there any problem? I source autoware before carla-autoware. Any idea?

from carla-autoware.

Thanks both of you for the answer. I did what @AravindChandradoss wrote but I couldn't see the MANY paths, only two.
cd carla-autoware/catkin_ws/ sudo rm -R devel/ build/ export AUTOWARE_ROOT=/mnt/HDD/carla_ue4_space/autoware source /mnt/HDD/carla_ue4_space/autoware/ros/install/setup.bash source /opt/ros/kinetic/setup.bash catkin_make source /mnt/HDD/carla_ue4_space/carla-autoware/autoware_launch/../catkin_ws/devel/setup.bash echo $ROS_PACKAGE_PATH

output is:
/mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src:/opt/ros/kinetic/share

Still thinking about what I am doing wrong. I am beginner to this and your help is very helpful for me and people who wants to use the bridge.
@AravindChandradoss , which steps in documentation I need to follow? Running terminal 2 part from the beginning? I can give necessary information if asked. Thanks in advance

Edit: Sometimes I get many ros package paths but in that case when I try to run the roslaunch I get this error:
unused args [enablePlannerDynamicSwitch] for include of [/mnt/HDD/carla_ue4_space/autoware/ros/install/waypoint_planner/share/waypoint_planner/launch/velocity_set.launch] The traceback for the exception was written to the log file

from carla-autoware.

I think you dont need to source /opt/ros/kinetic/setup.bash (mostly they will be in .bashrc by default).
If you dont mind, share your echo $ROS_PACKAGE_PATH output after sourcing source <path-to-autoware>/ros/install/setup.bash.
If you see many source paths. just do the catkin_make and follow the documentation from here

let me know if you get any runtime error as in issue
For now, I am waiting for @fpasch or someone from carla to help in that issue.

from carla-autoware.

This is the output after sourcing autoware and catkin_make:
/mnt/HDD/carla_ue4_space/autoware/ros/install/ymc/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/xsens_driver/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/lattice_planner/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/waypoint_planner/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/waypoint_maker/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/way_planner/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/trafficlight_recognizer/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/op_utilities/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/op_simulation_package/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/op_local_planner/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/op_global_planner/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/lidar_kf_contour_track/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/op_ros_helpers/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/lane_planner/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/ff_waypoint_follower/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/dp_planner/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/waypoint_follower/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vlg22c_cam/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vision_ssd_detect/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vision_segment_enet_detect/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vision_lane_detect/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vision_dpm_ttic_detect/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vision_darknet_detect/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vision_beyond_track/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vehicle_socket/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vehicle_model/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vehicle_gazebo_simulation_launcher/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vehicle_gazebo_simulation_interface/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vehicle_description/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/op_simu/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/op_planner/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/op_utility/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/lidar_euclidean_cluster_detect/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vector_map_server/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/road_occupancy_processor/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/costmap_generator/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/object_map/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/naive_motion_predict/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/map_file/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/libvectormap/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/imm_ukf_pda_track/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/decision_maker/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vector_map/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vector_map_msgs/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/vectacam/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/udon_socket/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/twist_generator/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/tablet_socket/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/runtime_manager/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/mqtt_socket/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/tablet_socket_msgs/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/state_machine_lib/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/sound_player/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/sick_lms5xx/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/sick_ldmrs_laser/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/sick_ldmrs_tools/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/sick_ldmrs_driver/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/sick_ldmrs_msgs/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/sick_ldmrs_description/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/points2image/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/rosinterface/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/rosbag_controller/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/roi_object_filter/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/range_vision_fusion/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/pos_db/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/points_preprocessor/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/points_downsampler/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/pixel_cloud_fusion/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/lidar_localizer/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/pcl_omp_registration/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/pc2_downsampler/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/oculus_socket/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/obj_db/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/nmea_navsat/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/ndt_tku/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/ndt_gpu/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/ndt_cpu/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/multi_lidar_calibrator/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/microstrain_driver/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/memsic_imu/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/marker_downsampler/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/map_tools/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/map_tf_generator/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/log_tools/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/lidar_shape_estimation/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/lidar_point_pillars/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/lidar_naive_l_shape_detect/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/lidar_fake_perception/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/lidar_apollo_cnn_seg_detect/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/libdpm_ttic/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/lgsvl_simulator_bridge/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/kvaser/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/kitti_launch/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/kitti_player/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/kitti_box_publisher/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/javad_navsat_driver/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/integrated_viewer/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/image_processor/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/hokuyo/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/graph_tools/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/gnss_localizer/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/gnss/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/glviewer/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/gazebo_world_description/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/gazebo_imu_description/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/gazebo_camera_description/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/garmin/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/freespace_planner/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/fastvirtualscan/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/ekf_localizer/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/detected_objects_visualizer/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/decision_maker_panel/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/dbw_mkz_msgs/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/data_preprocessor/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/custom_msgs/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/calibration_publisher/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_health_checker/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_system_msgs/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_rviz_plugins/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_pointgrey_drivers/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_driveworks_interface/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_connector/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_camera_lidar_calibrator/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/astar_search/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/as/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/amathutils_lib/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_msgs/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_launcher_rviz/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_launcher/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_driveworks_gmsl_interface/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_config_msgs/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_can_msgs/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_build_flags/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/autoware_bag_tools/share:/mnt/HDD/carla_ue4_space/autoware/ros/install/adi_driver/share:/opt/ros/kinetic/share

The unused args problem comes when I proceed.

from carla-autoware.

@yeserac were you able to successfully launch the bridge without the runtime error that I mentioned?
what was your problem? cant get you. Unused args?

from carla-autoware.

I get unused args:
unused args [enablePlannerDynamicSwitch] for include of [/mnt/HDD/carla_ue4_space/autoware/ros/install/waypoint_planner/share/waypoint_planner/launch/velocity_set.launch] The traceback for the exception was written to the log file
I am not sure it is succesful launching or not. I didn't get your error though. If I repeat my steps, I still get the above error.

from carla-autoware.

I get unused args:
unused args [enablePlannerDynamicSwitch] for include of [/mnt/HDD/carla_ue4_space/autoware/ros/install/waypoint_planner/share/waypoint_planner/launch/velocity_set.launch] The traceback for the exception was written to the log file
I am not sure it is succesful launching or not. I didn't get your error though. If I repeat my steps, I still get the above error.

having the same issue.

from carla-autoware.

Can you guys share your steps, so that I can try to reproduce the same.
btw, did you guys used the docker?

from carla-autoware.

The issue can be fixed by removing parameter while launching.
enablePlannerDynamicSwitch was removed from Autoware as in here.

So, remove enablePlannerDynamicSwitch from launch files.
Now, the bridge is working.

EDIT
Sorry for not being clear!

The launch file will be in ~/.../carla-autoware//home/autoware/carla-autoware/autoware_launch/
Go to my_motion_planning.launch file and remove enablePlannerDynamicSwitch.

from carla-autoware.

The issue can be fixed by removing parameter while launching.
enablePlannerDynamicSwitch was removed from Autoware as in here.

So, remove enablePlannerDynamicSwitch from launch files.
Now, the bridge is working.

Hi Thanks for the help.

For those who are looking for the "enablePlannerDynamicSwitch" args,
it should be located in file "PATH_TO_CARLA_AUTOWARE"/autoware_launch/my_motion_planning.launch
removing it will make the roslaunch xxx/devel.launch work.

but i'm facing a new issue regarding to "the ego vehicle process has died." still digging into it.

from carla-autoware.

I did what @ntutangyun wrote and I got the same issue:
[carla_manual_control_ego_vehicle-1] process has died [pid 9980, exit code 1, cmd /mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_manual_control/src/carla_manual_control/carla_manual_control.py __name:=carla_manual_control_ego_vehicle __log:=/home/acn/.ros/log/f85d343e-8382-11e9-8eca-c04a000396d4/carla_manual_control_ego_vehicle-1.log]. log file: /home/acn/.ros/log/f85d343e-8382-11e9-8eca-c04a000396d4/carla_manual_control_ego_vehicle-1*.log [carla_ego_vehicle_ego_vehicle-5] process has died [pid 9985, exit code 1, cmd /mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_ego_vehicle/src/carla_ego_vehicle/carla_ego_vehicle.py __name:=carla_ego_vehicle_ego_vehicle __log:=/home/acn/.ros/log/f85d343e-8382-11e9-8eca-c04a000396d4/carla_ego_vehicle_ego_vehicle-5.log]. log file: /home/acn/.ros/log/f85d343e-8382-11e9-8eca-c04a000396d4/carla_ego_vehicle_ego_vehicle-5*.log

from carla-autoware.

@ntutangyun @yeserac Are you still facing the "the ego vehicle process has died." issue?

from carla-autoware.

I reviewed the changes and executed them exactly. I still have the error and I am copying the full output:

`acn@acn-16:/mnt/HDD/carla_ue4_space/carla-autoware$ roslaunch autoware_launch/devel.launch
... logging to /home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/roslaunch-acn-16-5222.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://acn-16:33109/

SUMMARY

PARAMETERS

• /astar_avoid/angle_goal_range: 6.0
• /astar_avoid/avoid_start_velocity: 3.0
• /astar_avoid/avoid_waypoints_velocity: 10.0
• /astar_avoid/curve_weight: 1.2
• /astar_avoid/distance_heuristic_weight: 1.0
• /astar_avoid/enable_avoidance: False
• /astar_avoid/lateral_goal_range: 0.5
• /astar_avoid/longitudinal_goal_range: 2.0
• /astar_avoid/minimum_turning_radius: 6.0
• /astar_avoid/obstacle_threshold: 100
• /astar_avoid/potential_weight: 10.0
• /astar_avoid/replan_interval: 2.0
• /astar_avoid/reverse_weight: 2.0
• /astar_avoid/robot_base2back: 1.0
• /astar_avoid/robot_length: 4.5
• /astar_avoid/robot_width: 1.75
• /astar_avoid/safety_waypoints_size: 100
• /astar_avoid/search_waypoints_delta: 2
• /astar_avoid/search_waypoints_size: 50
• /astar_avoid/theta_size: 48
• /astar_avoid/time_limit: 1000.0
• /astar_avoid/update_rate: 10
• /astar_avoid/use_back: False
• /astar_avoid/use_potential_heuristic: True
• /astar_avoid/use_wavefront_heuristic: False
• /carla/ackermann_control/accel_Kd: 0.05
• /carla/ackermann_control/accel_Ki: 0.0
• /carla/ackermann_control/accel_Kp: 0.02
• /carla/ackermann_control/min_accel: 1.0
• /carla/ackermann_control/speed_Kd: 0.5
• /carla/ackermann_control/speed_Ki: 0.0
• /carla/ackermann_control/speed_Kp: 0.05
• /carla/ego_vehicle/role_name: ['hero', 'ego_veh...
• /carla/host: localhost
• /carla/maps_path: /mnt/HDD/carla_eu...
• /carla/port: 2000
• /carla_ackermann_control_ego_vehicle/role_name: ego_vehicle
• /carla_ego_vehicle_ego_vehicle/role_name: ego_vehicle
• /carla_ego_vehicle_ego_vehicle/sensor_definition_file: /mnt/HDD/carla_ue...
• /carla_ego_vehicle_ego_vehicle/spawn_point:
• /carla_ego_vehicle_ego_vehicle/vehicle_filter: vehicle.toyota.pr...
• /carla_manual_control_ego_vehicle/role_name: ego_vehicle
• /carla_waypoint_publisher/role_name: ego_vehicle
• /costmap_generator/expand_polygon_size: 1.0
• /costmap_generator/grid_length_x: 50
• /costmap_generator/grid_length_y: 30
• /costmap_generator/grid_max_value: 1.0
• /costmap_generator/grid_min_value: 0.0
• /costmap_generator/grid_position_x: 20
• /costmap_generator/grid_position_y: 0
• /costmap_generator/grid_resolution: 0.2
• /costmap_generator/lidar_frame: velodyne
• /costmap_generator/map_frame: map
• /costmap_generator/maximum_lidar_height_thres: 0.3
• /costmap_generator/minimum_lidar_height_thres: -2.2
• /costmap_generator/size_of_expansion_kernel: 9
• /costmap_generator/use_objects_box: True
• /costmap_generator/use_objects_convex_hull: False
• /costmap_generator/use_points: True
• /costmap_generator/use_wayarea: False
• /detection/lidar_detector/cluster_detect_visualization_01/objects_src_topic: /objects
• /lidar_euclidean_cluster_detect/clip_max_height: 0.5
• /lidar_euclidean_cluster_detect/clip_min_height: -1.3
• /lidar_euclidean_cluster_detect/cluster_merge_threshold: 1.5
• /lidar_euclidean_cluster_detect/cluster_size_max: 100000
• /lidar_euclidean_cluster_detect/cluster_size_min: 20
• /lidar_euclidean_cluster_detect/clustering_distance: 0.75
• /lidar_euclidean_cluster_detect/clustering_distances: [0.5,1.1,1.6,2.1,...
• /lidar_euclidean_cluster_detect/clustering_ranges: [15,30,45,60]
• /lidar_euclidean_cluster_detect/downsample_cloud: False
• /lidar_euclidean_cluster_detect/keep_lane_left_distance: 5
• /lidar_euclidean_cluster_detect/keep_lane_right_distance: 5
• /lidar_euclidean_cluster_detect/keep_lanes: False
• /lidar_euclidean_cluster_detect/leaf_size: 0.1
• /lidar_euclidean_cluster_detect/max_boundingbox_side: 10
• /lidar_euclidean_cluster_detect/output_frame: ego_vehicle/lidar...
• /lidar_euclidean_cluster_detect/points_node: /points_raw
• /lidar_euclidean_cluster_detect/pose_estimation: True
• /lidar_euclidean_cluster_detect/remove_ground: True
• /lidar_euclidean_cluster_detect/remove_points_upto: 0.0
• /lidar_euclidean_cluster_detect/use_diffnormals: False
• /lidar_euclidean_cluster_detect/use_gpu: False
• /lidar_euclidean_cluster_detect/use_multiple_thres: False
• /localizer: velodyne
• /ndt_matching/get_height: True
• /ndt_matching/imu_topic: /imu_raw
• /ndt_matching/imu_upside_down: False
• /ndt_matching/method_type: 0
• /ndt_matching/offset: linear
• /ndt_matching/output_log_data: False
• /ndt_matching/queue_size: 1
• /ndt_matching/use_gnss: True
• /ndt_matching/use_imu: False
• /ndt_matching/use_local_transform: False
• /ndt_matching/use_odom: False
• /pure_pursuit/is_linear_interpolation: True
• /pure_pursuit/publishes_for_steering_robot: False
• /ray_ground_filter/clipping_height: 0.2
• /ray_ground_filter/concentric_divider_distance: 0.01
• /ray_ground_filter/general_max_slope: 5
• /ray_ground_filter/ground_point_topic: /points_ground
• /ray_ground_filter/input_point_topic: /points_raw
• /ray_ground_filter/local_max_slope: 8
• /ray_ground_filter/min_height_threshold: 0.5
• /ray_ground_filter/min_point_distance: 1.85
• /ray_ground_filter/no_ground_point_topic: /points_no_ground
• /ray_ground_filter/radial_divider_angle: 0.08
• /ray_ground_filter/reclass_distance_threshold: 0.2
• /ray_ground_filter/sensor_height: 2.4
• /robot_description: <?xml version="1....
• /rosbag_fname:
• /rosdistro: kinetic
• /rosversion: 1.12.14
• /tf_pitch: 0.0
• /tf_roll: 0.0
• /tf_x: 0
• /tf_y: 0.0
• /tf_yaw: 0.0
• /tf_z: 2.4
• /use_gui: False
• /use_sim_time: True
• /vehicle_info/maximum_steering_angle: 70.0
• /vehicle_info/minimum_turning_radius: 5.0
• /vehicle_info/wheel_base: 2.7
• /vehiclecmd_to_ackermanndrive/wheelbase: 2.7
• /velocity_set/decelerate_vel_min: 1.3
• /velocity_set/enable_multiple_crosswalk_detection: False
• /velocity_set/points_topic: points_no_ground
• /velocity_set/remove_points_upto: 2.3
• /velocity_set/use_crosswalk_detection: False
• /velocity_set/velocity_offset: 1.2
• /voxel_grid_filter/output_log: False
• /voxel_grid_filter/points_topic: points_raw

NODES
/detection/lidar_detector/
cluster_detect_visualization_01 (detected_objects_visualizer/visualize_detected_objects)
/
astar_avoid (waypoint_planner/astar_avoid)
can_odometry (autoware_connector/can_odometry)
can_status_translator (autoware_connector/can_status_translator)
carla_ackermann_control_ego_vehicle (carla_ackermann_control/carla_ackermann_control_node.py)
carla_ego_vehicle_ego_vehicle (carla_ego_vehicle/carla_ego_vehicle.py)
carla_manual_control_ego_vehicle (carla_manual_control/carla_manual_control.py)
carla_points_map_loader (carla_points_map_loader/carla_points_map_loader)
carla_ros_bridge (carla_ros_bridge/client.py)
carla_to_autoware_vehicle_status (carla_autoware_bridge/carla_to_autoware_vehicle_status)
carla_to_autoware_waypoints (carla_autoware_bridge/carla_to_autoware_waypoints)
carla_waypoint_publisher (carla_waypoint_publisher/carla_waypoint_publisher.py)
config_waypoint_follower_rostopic (rostopic/rostopic)
costmap_generator (costmap_generator/costmap_generator)
egovehiclecamerafront_to_camera (tf/static_transform_publisher)
egovehiclegnss_to_gps (tf/static_transform_publisher)
egovehiclelidar_to_velodyne (tf/static_transform_publisher)
goal_relay (topic_tools/relay)
imag_relay (topic_tools/relay)
initialpose_relay (topic_tools/relay)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
lane_rule (lane_planner/lane_rule)
lane_select (lane_planner/lane_select)
lane_stop (lane_planner/lane_stop)
lidar_euclidean_cluster_detect (lidar_euclidean_cluster_detect/lidar_euclidean_cluster_detect)
map_to_mobility (tf/static_transform_publisher)
ndt_matching (lidar_localizer/ndt_matching)
odometry_to_posestamped (carla_autoware_bridge/odometry_to_posestamped)
points_relay (topic_tools/relay)
pose_relay (topic_tools/relay)
pure_pursuit (waypoint_follower/pure_pursuit)
ray_ground_filter (points_preprocessor/ray_ground_filter)
robot_state_publisher (robot_state_publisher/state_publisher)
twist_filter (waypoint_follower/twist_filter)
twist_gate (waypoint_follower/twist_gate)
vehiclecmd_to_ackermanndrive (carla_autoware_bridge/vehiclecmd_to_ackermanndrive)
vel_relay (topic_tools/relay)
velocity_set (waypoint_planner/velocity_set)
voxel_grid_filter (points_downsampler/voxel_grid_filter)
waypoint_marker_publisher (waypoint_maker/waypoint_marker_publisher)
world_to_map (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [5232]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f8f97e2c-8b41-11e9-9c48-c04a000396d4
process[rosout-1]: started with pid [5245]
started core service [/rosout]
process[carla_manual_control_ego_vehicle-2]: started with pid [5248]
process[carla_ros_bridge-3]: started with pid [5249]
process[goal_relay-4]: started with pid [5250]
process[initialpose_relay-5]: started with pid [5272]
process[carla_ego_vehicle_ego_vehicle-6]: started with pid [5273]
process[carla_waypoint_publisher-7]: started with pid [5274]
process[carla_points_map_loader-8]: started with pid [5275]
process[world_to_map-9]: started with pid [5283]
process[map_to_mobility-10]: started with pid [5308]
process[egovehiclegnss_to_gps-11]: started with pid [5333]
process[egovehiclelidar_to_velodyne-12]: started with pid [5334]
process[egovehiclecamerafront_to_camera-13]: started with pid [5352]
process[points_relay-14]: started with pid [5370]
process[imag_relay-15]: started with pid [5389]
process[odometry_to_posestamped-16]: started with pid [5391]
process[vehiclecmd_to_ackermanndrive-17]: started with pid [5399]
process[carla_to_autoware_vehicle_status-18]: started with pid [5411]
process[carla_to_autoware_waypoints-19]: started with pid [5412]
process[carla_ackermann_control_ego_vehicle-20]: started with pid [5414]
process[ray_ground_filter-21]: started with pid [5432]
process[joint_state_publisher-22]: started with pid [5461]
process[robot_state_publisher-23]: started with pid [5488]
process[can_odometry-24]: started with pid [5489]
process[voxel_grid_filter-25]: started with pid [5490]
process[ndt_matching-26]: started with pid [5498]
process[lidar_euclidean_cluster_detect-27]: started with pid [5499]
[ INFO] [1560145112.499658159]: Initializing Ground Filter, please wait...
[ INFO] [1560145112.500682408]: Input point_topic: /points_raw
[ INFO] [1560145112.502122796]: sensor_height[meters]: 2.400000
[ INFO] [1560145112.503181073]: general_max_slope[deg]: 5.000000
[ INFO] [1560145112.504024185]: local_max_slope[deg]: 8.000000
[ INFO] [1560145112.504835748]: radial_divider_angle[deg]: 0.080000
[ INFO] [1560145112.505674410]: concentric_divider_distance[meters]: 0.010000
[ INFO] [1560145112.506596647]: min_height_threshold[meters]: 0.500000
[ INFO] [1560145112.507482539]: clipping_height[meters]: 0.200000
[ INFO] [1560145112.510999757]: min_point_distance[meters]: 1.850000
[ INFO] [1560145112.512666381]: reclass_distance_threshold[meters]: 0.200000
process[detection/lidar_detector/cluster_detect_visualization_01-28]: started with pid [5538]
[ INFO] [1560145112.940301785]: Radial Divisions: 4500
[ INFO] [1560145112.941380335]: No Ground Output Point Cloud no_ground_point_topic: /points_no_ground
[ INFO] [1560145112.942255154]: Only Ground Output Point Cloud ground_topic: /points_ground
[ INFO] [1560145112.942285284]: Subscribing to... /points_raw
[ INFO] [1560145112.948547480]: Ready
process[can_status_translator-29]: started with pid [5586]
process[pose_relay-30]: started with pid [5626]
process[vel_relay-31]: started with pid [5661]
process[waypoint_marker_publisher-32]: started with pid [5663]
[ INFO] [1560145113.679255363]: [visualize_detected_objects] objects_src_topic: /detection/lidar_detector/objects
[ INFO] [1560145113.679768188]: [visualize_detected_objects] object_speed_threshold: 0.10
[ INFO] [1560145113.680282486]: [visualize_detected_objects] arrow_speed_threshold: 0.25
[ INFO] [1560145113.680801979]: [visualize_detected_objects] marker_display_duration: 0.20
[ INFO] [1560145113.681322066]: [visualize_detected_objects] label_color: {R:255.0, G:255.0, B:255.0, A:1.0}
[ INFO] [1560145113.681751550]: [visualize_detected_objects] arrow_color: {R:0.0, G:255.0, B:0.0, A:0.8}
[ INFO] [1560145113.682174659]: [visualize_detected_objects] hull_color: {R:51.0, G:204.0, B:51.0, A:0.8}
[ INFO] [1560145113.682646846]: [visualize_detected_objects] box_color: {R:51.0, G:128.0, B:204.0, A:0.8}
[ INFO] [1560145113.683124022]: [visualize_detected_objects] model_color: {R:190.0, G:190.0, B:190.0, A:0.5}
[ INFO] [1560145113.683579616]: [visualize_detected_objects] centroid_color: {R:77.0, G:121.0, B:255.0, A:0.8}
[ INFO] [1560145113.686510182]: [visualize_detected_objects] object_src_topic: /detection/lidar_detector/objects
[ INFO] [1560145113.687122064]: [visualize_detected_objects] markers_out_topic: /detection/lidar_detector/objects_markers
process[lane_rule-33]: started with pid [5793]
process[lane_stop-34]: started with pid [5795]
process[lane_select-35]: started with pid [5797]
process[costmap_generator-36]: started with pid [5876]
process[astar_avoid-37]: started with pid [5877]
process[velocity_set-38]: started with pid [5881]
process[config_waypoint_follower_rostopic-39]: started with pid [5919]
process[pure_pursuit-40]: started with pid [5921]
process[twist_filter-41]: started with pid [5977]
process[twist_gate-42]: started with pid [6007]
Traceback (most recent call last):
File "/mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_ackermann_control/src/carla_ackermann_control/carla_ackermann_control_node.py", line 17, in
from simple_pid import PID
ImportError: No module named simple_pid
[carla_ackermann_control_ego_vehicle-20] process has died [pid 5414, exit code 1, cmd /mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_ackermann_control/src/carla_ackermann_control/carla_ackermann_control_node.py __name:=carla_ackermann_control_ego_vehicle __log:=/home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/carla_ackermann_control_ego_vehicle-20.log].
log file: /home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/carla_ackermann_control_ego_vehicle-20*.log
[ WARN] [1560145115.556689224]: Waiting for subscribing topics...
... logging to /home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/roslaunch-acn-16-5275.log
pygame 1.9.6
Hello from the pygame community. https://www.pygame.org/contribute.html
Traceback (most recent call last):
File "/mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_waypoint_publisher/src/carla_waypoint_publisher/carla_waypoint_publisher.py", line 29, in
from agents.navigation.global_route_planner import GlobalRoutePlanner
ImportError: No module named agents.navigation.global_route_planner
shm_open() failed: No such file or directory
ALSA lib pulse.c:243:(pulse_connect) PulseAudio: Unable to connect: Protocol error

Traceback (most recent call last):
File "/mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_manual_control/src/carla_manual_control/carla_manual_control.py", line 561, in
main()
File "/mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_manual_control/src/carla_manual_control/carla_manual_control.py", line 537, in main
pygame.HWSURFACE | pygame.DOUBLEBUF)
pygame.error: No available video device
[carla_waypoint_publisher-7] process has died [pid 5274, exit code 1, cmd /mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_waypoint_publisher/src/carla_waypoint_publisher/carla_waypoint_publisher.py __name:=carla_waypoint_publisher __log:=/home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/carla_waypoint_publisher-7.log].
log file: /home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/carla_waypoint_publisher-7*.log
[carla_manual_control_ego_vehicle-2] process has died [pid 5248, exit code 1, cmd /mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_manual_control/src/carla_manual_control/carla_manual_control.py __name:=carla_manual_control_ego_vehicle __log:=/home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/carla_manual_control_ego_vehicle-2.log].
log file: /home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/carla_manual_control_ego_vehicle-2*.log
[INFO] [1560145117.180946, 0.000000]: listening to server localhost:2000
[INFO] [1560145117.181209, 0.000000]: using vehicle filter: vehicle.toyota.prius*
Traceback (most recent call last):
File "/mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_ego_vehicle/src/carla_ego_vehicle/carla_ego_vehicle.py", line 258, in
main()
File "/mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_ego_vehicle/src/carla_ego_vehicle/carla_ego_vehicle.py", line 251, in main
ego_vehicle.run()
File "/mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_ego_vehicle/src/carla_ego_vehicle/carla_ego_vehicle.py", line 233, in run
self.world = client.get_world()
RuntimeError: rpc::rpc_error during call in function version
[INFO] [1560145117.303652, 0.000000]: Trying to connect to localhost:2000
[INFO] [1560145117.304819, 0.000000]: Done
Traceback (most recent call last):
File "/mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/client.py", line 59, in
main()
File "/mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/client.py", line 39, in main
carla_world = carla_client.get_world()
RuntimeError: rpc::rpc_error during call in function version
[carla_ego_vehicle_ego_vehicle-6] process has died [pid 5273, exit code 1, cmd /mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_ego_vehicle/src/carla_ego_vehicle/carla_ego_vehicle.py __name:=carla_ego_vehicle_ego_vehicle __log:=/home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/carla_ego_vehicle_ego_vehicle-6.log].
log file: /home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/carla_ego_vehicle_ego_vehicle-6*.log
[carla_ros_bridge-3] process has died [pid 5249, exit code 1, cmd /mnt/HDD/carla_ue4_space/carla-autoware/catkin_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/client.py __name:=carla_ros_bridge __log:=/home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/carla_ros_bridge-3.log].
log file: /home/acn/.ros/log/f8f97e2c-8b41-11e9-9c48-c04a000396d4/carla_ros_bridge-3*.log
[ INFO] [1560145120.990874045]: euclidean_cluster > Setting points node to /points_raw
[ INFO] [1560145120.991440749]: Euclidean Clustering: Difference of Normals will not be used.
[ INFO] [1560145120.992293991]: [euclidean_clustering] downsample_cloud: 0
[ INFO] [1560145120.993129659]: [euclidean_clustering] remove_ground: 1
[ INFO] [1560145120.993895622]: [euclidean_clustering] leaf_size: 0.100000
[ INFO] [1560145120.994682790]: [euclidean_clustering] cluster_size_min 20
[ INFO] [1560145120.995661076]: [euclidean_clustering] cluster_size_max: 100000
[ INFO] [1560145120.996494191]: [euclidean_clustering] pose_estimation: 1
[ INFO] [1560145120.997390627]: [euclidean_clustering] clip_min_height: -1.300000
[ INFO] [1560145120.998214669]: [euclidean_clustering] clip_max_height: 0.500000
[ INFO] [1560145120.998939904]: [euclidean_clustering] keep_lanes: 0
[ INFO] [1560145120.999891451]: [euclidean_clustering] keep_lane_left_distance: 5.000000
[ INFO] [1560145121.000811750]: [euclidean_clustering] keep_lane_right_distance: 5.000000
[ INFO] [1560145121.001601722]: [euclidean_clustering] max_boundingbox_side: 10.000000
[ INFO] [1560145121.002341787]: [euclidean_clustering] cluster_merge_threshold: 1.500000
[ INFO] [1560145121.003157812]: [euclidean_clustering] output_frame: ego_vehicle/lidar/lidar1
[ INFO] [1560145121.003981865]: [euclidean_clustering] remove_points_upto: 0.000000
[ INFO] [1560145121.004793876]: [euclidean_clustering] clustering_distance: 0.750000
[ INFO] [1560145121.005570515]: [euclidean_clustering] use_gpu: 0
[ INFO] [1560145121.006381467]: [euclidean_clustering] use_multiple_thres: 0
[ INFO] [1560145121.007138562]: [euclidean_clustering] clustering_distances: [0.5,1.1,1.6,2.1,2.6]
[ INFO] [1560145121.007944239]: [euclidean_clustering] clustering_ranges: [15,30,45,60]
`

from carla-autoware.

Closing the issue as the repo has been largely updated. Feel free to file a new issue if any of the problems persist.

from carla-autoware.